Reconfigurable predictive control for redundantly actuated systems with parameterised input constraints

A method is proposed for on-line reconfiguration of the terminal constraint used to provide theoretical nominal stability guarantees in linear model predictive control (MPC). By parameterising the terminal constraint, its complete reconstruction is avoided when input constraints are modified to accommodate faults. To enlarge the region of feasibility of the terminal control law for a certain class of input faults with redundantly actuated plants, the linear terminal controller is defined in terms of virtual commands. A suitable terminal cost weighting for the reconfigurable MPC is obtained by means of an upper bound on the cost for all feasible realisations of the virtual commands from the terminal controller. Conditions are proposed that guarantee feasibility recovery for a defined subset of faults. The proposed method is demonstrated by means of a numerical example. © 2013 Elsevier B.V. All rights reserved.

Seismic behaviour of barrel vault systems

In this paper, the experimental study on the rocking behaviour of a full scale barrel vaulted structure undergo cyclic horizontal loading is discussed. The study is the first part of an ongoing experimental and theoretical research program, developed by the University of Brescia, concerning the seismic behaviour of masonry buildings. The scope of the paper is to provide some evidence of the rocking mechanism experienced by barrel vaulted structures undergo horizontal loading. Understanding of the behaviour of such structural systems is fundamental for their seismic vulnerability assessment, as well as for the correct design of possible strengthening techniques. The structural behaviour is also investigated by means of non linear finite element analyses. Numerical results are validated through comparison with experimental results. After validation, the FE model can be applied to different case studies.